EP0175781A1 - Mecanisme de direction pour un vehicule a moteur. - Google Patents

Mecanisme de direction pour un vehicule a moteur.

Info

Publication number
EP0175781A1
EP0175781A1 EP85902010A EP85902010A EP0175781A1 EP 0175781 A1 EP0175781 A1 EP 0175781A1 EP 85902010 A EP85902010 A EP 85902010A EP 85902010 A EP85902010 A EP 85902010A EP 0175781 A1 EP0175781 A1 EP 0175781A1
Authority
EP
European Patent Office
Prior art keywords
steering
rear wheels
steering device
front wheels
wheels
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP85902010A
Other languages
German (de)
English (en)
Other versions
EP0175781B1 (fr
Inventor
Fritz Naumann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Audi AG
Original Assignee
Audi AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Audi AG filed Critical Audi AG
Publication of EP0175781A1 publication Critical patent/EP0175781A1/fr
Application granted granted Critical
Publication of EP0175781B1 publication Critical patent/EP0175781B1/fr
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1554—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles
    • B62D7/1572—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles provided with electro-hydraulic control means

Definitions

  • the invention relates to a steering device for a motor vehicle with steerable front wheels and steerable rear wheels according to the preamble of patent claim 1.
  • Such steering devices can be found, for example, in the documents DE-OS 31 24 821 and 31 33 985.
  • the steering angle of the front wheels and the speed of the motor vehicle are recorded as vehicle-specific parameters and a steering angle of the rear wheels is derived therefrom.
  • the lateral acceleration or the yaw angle of the motor vehicle can also be included in the calculation.
  • the aim of these measures is a higher cornering stability, a faster response of the steering of the motor vehicle to cornering maneuvers and finally greater maneuverability in the parking area.
  • the rear wheels can be steered with both positive and negative signs; that is, the rear wheels can either be turned in the same direction as the front wheels or counter to them.
  • the first-mentioned measure acts to oversteer the motor vehicle when the vehicle is fast Driving through curves in opposite directions, while the last-mentioned measure serves in particular to reduce the turning circle and to rapidly initiate tight curve maneuvers.
  • the steering torque increases in any case at least briefly when, for example, a relatively violent steering reaction is triggered on the front wheels by an suddenly appearing obstacle, so that an increased evasive impulse can be generated by correspondingly steering the rear wheels. If the steering torque drops again, the turning of the rear wheels is more or less reset depending on the steering angle of the front wheels.
  • the steering torque can be determined by measuring the transmission forces between the steering wheel and the steering gear, for example within the steering column. Devices of this type are common, for example, when using power steering systems.
  • the steering of the rear wheels is eliminated with only very low steering torques. This makes unproblematic tracking keeping the motor vehicle ensured in particular at high speeds and possibly in long bends or in the case of slight mutual steering maneuvers.
  • the proposal is based on the knowledge that in such and similar driving conditions, taking into account the elasticities which are unavoidable in steering systems, unguided rear wheels are more advantageous in terms of their guiding properties and thus the motor vehicle is easier to control by the operator.
  • the features of claim 6 are particularly advantageously proposed in connection with this, so that the steering system actuating the rear wheels is mechanically blocked.
  • a pressure-dependent switch which is switched into the hydraulic system of the power steering can thus generate a pressure-proportional signal which is processed in a corresponding control electronics.
  • the steering angle of the front wheels can also be included as a threshold switch-off. Since the steering angle of the front wheels is anyway required to control the steering angle of the rear wheels, this measure does not represent any additional effort.
  • a logical combination circuit ensures that steering of the rear wheels is initiated only when both signals are present
  • a total shutdown of the steering of the rear wheels can be indicated, for example, when
  • Claims 7 and 8 describe a particularly simple to carry out and functionally reliable locking of the steering system of the rear wheels.
  • This schematic drawing shows a motor vehicle with a steering device with steerable front and rear wheels.
  • a motor vehicle 2 is provided with both steerable front wheels 4 and steerable rear wheels 6.
  • the front wheels 4 are actuated via a hydraulic power steering 8, which is connected to a steering column 10 with a
  • Steering wheel 12 is connected.
  • Track rods 14 and steering knuckles 16 serve as transmission means between the power steering 8 and the front wheels 4.
  • the power steering system 8 is supplied with hydraulic medium via a pump 20 driven by the internal combustion engine 18 of the motor vehicle.
  • the hydraulic medium is fed via a line 22 to a steering valve 24 with an open center.
  • the rear wheels steerable via steering knuckles 26 are connected to a rack and pinion steering 30 via tie rods 28.
  • the toothed pinion 34 of the toothed rack steering 30, which is in engagement with the toothed rack 32, is actuated by means of an electric servomotor 36.
  • the servomotor 36 can be reversed in both directions of rotation.
  • the actuating motor 36 is activated via control electronics 38, which is connected to the electrical system (not shown) of the motor vehicle.
  • a steering angle sensor 40, 42 is connected to the power steering 8 and the rack and pinion steering 30, which, based on the central position of the steering systems, has a positive or negative steering angle ⁇ or the front and rear wheels 4, 6 in the form of an electrical, ana ⁇ give voltage signal to the control electronics 38.
  • a notch 44 is provided in the toothed rack 32 of the toothed rack recess 3 -o, in the division of the rack-and-pinion steering corresponding to a locking pin 43 which is displaceably mounted in the housing 46.
  • Locking pin 4 is tensioned against the toothed rack 32 by means of a spring 50, so that it locks the toothed rack 32 into the notch 44.
  • the slightly conical design of the section of the locking pin 4G which cooperates with the notch 44 lies within the self-locking range.
  • the locking pin 48 ends in a piston part 52 which is guided in the housing 46 and divides a chamber 54 which is connected via a line 56 to the line 22 for the power steering 8.
  • a pressure sensor 5G is switched into line 22, which outputs a pressure-proportional signal to the control electronics 3S.
  • a steering torque occurs to overcome the steering forces currently to be applied, which depend on the road grip coefficient, the vehicle speed, the steering angle of the front wheels 4 and the steering speed, which corresponds to the Identification of the hydraulic steering proportional or analog pressure P in the line 22 between the pump 20 and the steering valve 24 is generated.
  • the steering valve 24 controls the return flow of the hydraulic medium (not shown) to a non-pressurized storage container in the usual manner in the case of power steering systems with an open center, and at the same time connects the line 22 to one of the hydraulic working chamber / the power steering system.
  • the pressure of the working means in line 22 corresponding to the steering torque is converted in sensor 5 ⁇ into a corresponding _, i ⁇ r_c_i of the control electronics 3G.
  • This steering lock takes place at a higher steering torque on the power steering 8 at a higher speed than at a lower steering torque.
  • the spring 50 is matched in such a way that it holds the locking pin 48 in the notch 44 of the rack 32 up to the predetermined pressure threshold of 30 bar. Above this pressure threshold, the locking pin 48 is pulled back by the piston 52 due to the predominant hydraulic force in the chamber 54.
  • shut-off valve 60 In. In line 56 between line 22 and chamber 10 54 on locking pin 48, an electromagnetic shut-off valve 60 is switched on, by means of which line 56 can be interrupted. Shut-off valve 60 is closed when a manually actuated, electrical interrupter switch is closed 62 the control electronics 15 are separated or switched off from the vehicle electrical system.
  • control is at least partially subject to self-regulation. As soon as a part of the change of direction impulse is transmitted via the rear wheels 6 due to the impact of the rear wheels 6, the steering torque at the front automatically decreases, whereby depending on the size of the decrease, 5 will already cause the rear wheels 6 to be reset. If the pressure in the line 22 falls below the predetermined pressure threshold P, the rear wheels 6 are returned to their central position (no steering lock) and, at the same time, the rack-and-pinion steering 30 is engaged by engaging the
  • the rack and pinion steering 30 locking pin 48 locked in the notch 44 of the rack 32.
  • the rack and pinion steering 30 is reset at a predetermined, higher speed.
  • the control electronics 38 can be provided with a computer in which both those above the predetermined pressure threshold steering moments P and the steering angles above the predetermined steering angle of the front wheels 4 and their second derivative are stored. Furthermore, the speed V of the motor vehicle can optionally be entered. In accordance with a preferably empirically determined characteristic map, the read steering angles / 6 of the rear wheels 6 are then set via the electric servomotor 36, a closed control loop being formed via the steering angle sensor 42.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Mécanisme de direction pour un véhicule à moteur avec des roues avant dirigeables (4) et des roues arrière dirigeables (6), la direction des roues arrière s'effectuant en fonction de l'angle de direction et du moment de direction à l'installation de direction des roues avant. Le moment de direction est déterminé par interrogation de la pression du milieu de travail de la direction assistée hydraulique (8) pour les roues avant.
EP85902010A 1984-04-06 1985-04-02 Mecanisme de direction pour un vehicule a moteur Expired EP0175781B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19843413007 DE3413007A1 (de) 1984-04-06 1984-04-06 Lenkeinrichtung fuer ein kraftfahrzeug
DE3413007 1984-04-06

Publications (2)

Publication Number Publication Date
EP0175781A1 true EP0175781A1 (fr) 1986-04-02
EP0175781B1 EP0175781B1 (fr) 1988-04-27

Family

ID=6232871

Family Applications (1)

Application Number Title Priority Date Filing Date
EP85902010A Expired EP0175781B1 (fr) 1984-04-06 1985-04-02 Mecanisme de direction pour un vehicule a moteur

Country Status (5)

Country Link
US (1) US4671523A (fr)
EP (1) EP0175781B1 (fr)
JP (1) JPS61501767A (fr)
DE (2) DE3413007A1 (fr)
WO (1) WO1985004631A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2002217742B2 (en) * 2001-01-16 2008-02-21 Astrazeneca Ab Therapeutic heterocyclic compounds

Families Citing this family (35)

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IT1190112B (it) * 1985-05-23 1988-02-10 Zahnradfabrik Friedrichshafen Impianto di sterzatura per piu' assali
GB8529601D0 (en) * 1985-12-02 1986-01-08 Lotus Group Plc Vehicle with front & rear wheel steering
US4790551A (en) * 1986-02-12 1988-12-13 Honda Giken Kogyo Kabushiki Kaisha Steering system for motor vehicle
JPS62251277A (ja) * 1986-04-22 1987-11-02 Mitsubishi Electric Corp 電動式後輪操舵装置
DE3624457A1 (de) * 1986-07-19 1988-01-28 Bayerische Motoren Werke Ag Hinterradsteuerung von kraftfahrzeugen
GB2194201B (en) * 1986-08-22 1990-07-04 Honda Motor Co Ltd Steering angle detector
DE3701087A1 (de) * 1987-01-16 1988-07-28 Bayerische Motoren Werke Ag Einrichtung zur erfassung eines zustandes eines fahrzeugrades
FR2610275B1 (fr) * 1987-02-03 1990-09-07 Peugeot Dispositif de commande de braquage des roues arriere d'un vehicule et vehicule automobile equipe de ce dispositif
US4796720A (en) * 1987-09-21 1989-01-10 Bauer John K Four-wheel steering, leveling and banking for vehicles
JPH01109173A (ja) * 1987-10-23 1989-04-26 Jidosha Kiki Co Ltd ４輪操舵システム
US4776419A (en) * 1987-12-28 1988-10-11 Eaton Corporation Four wheel steering system
US4838374A (en) * 1987-12-28 1989-06-13 Eaton Corporation Speed responsive rear wheel steering
US4830129A (en) * 1987-12-28 1989-05-16 Eaton Corporation Apparatus for four wheel steering vehicle
US4830128A (en) * 1987-12-28 1989-05-16 Eaton Corporation Four wheel steering having closed hydraulic system with pressure relief
US4776418A (en) * 1987-12-28 1988-10-11 Winckler Peter S Four wheel steering having closed hydraulic system with pressure control assembly
US5448480A (en) * 1988-05-11 1995-09-05 Siemens Aktiengesellschaft Fail-safe operation via controller redundancy for steering the back wheels of a road vehicle
US4856606A (en) * 1988-06-07 1989-08-15 Trw Inc. Lock mechanism for rear wheel steer apparatus
FR2639599B1 (fr) * 1988-11-29 1993-09-03 Renault Dispositif auxiliaire du traitement des defaillances d'un systeme d'actionnement d'un verin electrique lineaire
US5004063A (en) * 1988-12-27 1991-04-02 Ford Motor Company Steering system for the rear wheels of a vehicle
US4936401A (en) * 1988-12-27 1990-06-26 Ford Motor Company Steering system for a vehicle
US4944356A (en) * 1988-12-28 1990-07-31 Ford Motor Company Steering system position detector
US4972916A (en) * 1989-04-25 1990-11-27 Trw Inc. Vehicle steering system
US4949803A (en) * 1989-06-12 1990-08-21 Eaton Corporation Four wheel steering system
US4966246A (en) * 1989-06-12 1990-10-30 Eaton Corporation Four wheel steering system
US5076382A (en) * 1989-06-23 1991-12-31 Trw Inc. Method and apparatus for steering a vehicle
DE4334279A1 (de) * 1993-10-08 1995-04-13 Claas Ohg Allrad-Lenkungssteuerung
US7401677B2 (en) * 2002-02-13 2008-07-22 Trw Inc. Self-centering steering system
US7278511B1 (en) 2003-01-27 2007-10-09 Polaris Industries Inc. Controller for steering a vehicle
US7316288B1 (en) 2003-01-27 2008-01-08 Polaris Industries Inc. All terrain vehicle with multiple steering modes
US8903607B2 (en) * 2012-01-11 2014-12-02 GM Global Technology Operations LLC Lane tracking system with active rear-steer
DE102015108520A1 (de) * 2015-05-29 2016-12-01 Saf-Holland Gmbh Lenksicherung
JP2018202923A (ja) * 2017-05-31 2018-12-27 株式会社東海理化電機製作所 ロック装置
US11414127B2 (en) 2020-06-30 2022-08-16 Zoox, Inc. Trajectory tracking with four-wheel steering
US11518412B2 (en) 2020-06-30 2022-12-06 Zoox, Inc. Trajectory determination for four-wheel steering
US11345400B2 (en) * 2020-06-30 2022-05-31 Zoox, Inc. Trajectory tracking with four-wheel steering and steering limits

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DE2014972A1 (de) * 1970-03-28 1971-10-21 Klöckner-Humboldt-Deutz AG, 5000 Köln Lenkeinrichtung für Fahrzeuge
US3856102A (en) * 1973-07-11 1974-12-24 Harnischfeger Corp Electro-hydraulic steering system for vehicle having steerable front and rear ground wheels
FR2351841A1 (fr) * 1976-05-18 1977-12-16 Brimont Marcel Essieu a roues directrices pour vehicule automobile, ainsi que les vehicules automobiles pourvus de cet essieu
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JPS5711173A (en) * 1980-06-24 1982-01-20 Nissan Motor Co Ltd Method of controlling steering angle for vehicle capable of steering two sets of wheels
GB2083422B (en) * 1980-08-27 1984-08-15 Honda Motor Co Ltd Vehicle steering mechanisms
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DE3300640A1 (de) * 1983-01-11 1984-07-12 Daimler-Benz Ag, 7000 Stuttgart Zusatzlenkung fuer mehrachsige fahrzeuge, insbesondere personenkraftwagen

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2002217742B2 (en) * 2001-01-16 2008-02-21 Astrazeneca Ab Therapeutic heterocyclic compounds

Also Published As

Publication number Publication date
EP0175781B1 (fr) 1988-04-27
DE3562351D1 (en) 1988-06-01
DE3413007A1 (de) 1985-10-17
WO1985004631A1 (fr) 1985-10-24
US4671523A (en) 1987-06-09
JPS61501767A (ja) 1986-08-21

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